“I love it all,” the 45-year-old told Us Weekly exclusively at the Los Angeles premiere of her new Netflix series, Insatiable, on Thursday, August 9. “I’m ready. I’m ready! I would do it now if they asked.”

The Charmed alum shares son Milo, 6, and daughter Elizabella, 3, with her husband, Dave Bugliari.

Milano, who stars alongside Dallas Roberts on Insatiable, did admit that the most challenging part of parenthood is teaching her kids “how to wipe their butt.”

“Killing me. Six and three. They don’t understand that they gotta get in there,” the actress admitted.

Roberts echoed her thoughts and told Us, “I know. Teaching them that their feelings are their own entities with which they can choose and guide themselves has been the most rewarding thing.”

Milano chimed in: “And for me I think it’s raising kids that are socially aware and conscious. But still have childhoods and aren’t completely terrified from the moment they wake up until the moment they go to sleep like their mother.”

Milano has been vocal on social media about her disdain for President Donald Trumpand his polices since he was elected. The Who’s the Boss alum further explained how parents feel things at a deeper level with it comes to their children.

“The heartache that you feel as a parent is like nothing you’ve ever — it’s like shattering your DNA. It’s like debilitating heartbreak,” she told Us. “And it can be about the oddest things. Just like watching my son’s jaw square out. I’m not kidding. Like, all of a sudden, I’m looking at his neck and it’s starting to get like little boy and not a baby, and the hair on the back of it’s getting coarse, it’s just all very upsetting.”

Roberts added, “When we fed our first kid solid food for the first time, we both cried.”